CN102235326B - Power transmission device and joint unit of power transmission device - Google Patents
Power transmission device and joint unit of power transmission device Download PDFInfo
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- CN102235326B CN102235326B CN2011101037368A CN201110103736A CN102235326B CN 102235326 B CN102235326 B CN 102235326B CN 2011101037368 A CN2011101037368 A CN 2011101037368A CN 201110103736 A CN201110103736 A CN 201110103736A CN 102235326 B CN102235326 B CN 102235326B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
- F16D7/02—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type
- F16D7/021—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type with radially applied torque-limiting friction surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/49—Member deformed in situ
- Y10T403/4966—Deformation occurs simultaneously with assembly
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Wind Motors (AREA)
Abstract
The invention provides a power transmission device and a joint unit of the power transmission device, capable of reducing the maintenance work load and effectively protecting the whole device without increasing the size of the device suddenly. A bush (first member) (68) has a hollow part (68A). An outer diameter (d1) of a connecting shaft (second member) (66) is prescribed to that slightly greater than an inner diameter (D1) of the hollow part (68A) of the bush (68). The bush (68) and the connecting shaft (66) are embeded in an interference fit way. The surface of at least one of an inner periphery of the hollow portion (68A) of the bush (68) and an outer periphery of the connecting shaft (66) is subjected to a surface treatment in which slipping occurs when an excessive torque exceeding a predetermined value is applied, and the slipping stops and the original torque transmission to be performed in the power transmission device is performed again between the bush (68) and the connecting shaft (66) when the excessive torque is eliminated.
Description
Technical field
The application advocates the preference of No. 2010-50640th, Japanese patent application of Japanese patent application application on March 8th, No. 2010-173973 1 of the Japanese patent application application on August 2nd, No. 2010-114781 1 of the Japanese patent application application on May 18th, No. 2010-105680 1 based on April 30th, 2010 application.The full content of its application is applied in this specification by reference.
The present invention relates to a kind of power transmitting deice of the device that especially as the power transmitting deice of wind power plant, is applicable to being applied to sometimes being transfused to once in a while excessive loads and the joint unit of power transmitting deice.
Background technique
Disclose the speed reducer that the pitch of the driftage control of the nacelle (power compartment) that is used in wind power plant or air vane is controlled in patent documentation 1.
Wind power plant, owing to arranging under physical environment, therefore is subject to blast or strong wind sometimes.
Disclose following technology in this patent documentation 1, when the excessive torque more than setting value is inputted from the air vane side, the transmission of power that makes slip coupling work and interdict drive system prevents the overladen technology of this drive system.Without directly reusing, possess the sensor detected sliding after this slip coupling slides, and be designed to stop when the next one is safeguarded demonstrating the situation that carry out the upkeep operation of slip coupling.
Patent documentation 1:US2007-0098549A1 (claim 1, paragraph [0015])
But, the maintenance of wind-power generating system can not be carried out like that continually, therefore slide the extremely inconvenience of system that once needs to be serviced operation, the Threshold that result has to start sliding becomes the very high level as huge typhoon etc. is started working temporarily.This phenomenon illustrates that basic drive system must have until apply that excessive loads can not be damaged and the durability that remains in operation has to cause the maximization of device conversely speaking.
Summary of the invention
In order to solve, this problem in the past completes in the present invention; its problem is in especially being applicable to being applied to that the power transmitting deice of situation of misgivings is arranged applying for the moment large load; without the size of aggrandizement apparatus all for naught, alleviate the load of upkeep operation, and protective gear integral body effectively.
The present invention solves above-mentioned problem by being made as following structure, between the 1st parts and the 2nd parts in the power transmitting deice of transferring power, described the 1st parts have hollow part, and the external diameter of described the 2nd parts is set for less times greater than the size of the internal diameter of the described hollow part of described the 1st parts, the 1st parts and the 2nd parts are chimeric with interference fit thus, and the surface at least one party of the periphery of interior week of the described hollow part of described the 1st parts and described the 2nd parts is implemented as follows surface treatment: when the excessive torque that applies over predetermined value, slide, and when disappearing, this excessive torque stops described sliding, again carry out the original transmission of torque that should carry out in this power transmitting deice between the 1st parts and the 2nd parts.
As above-mentioned slip coupling; when power-transmission system is applied to the excessive torque more than predetermined value as the safety installations of the structure that starts to slide; " slide " as the urgent protection action for the protection of device, slide after 1 time, after can thinking, can't complete original transmission of torque.In fact, do not imagine in above-mentioned patent documentation 1 yet and slide rear upkeep operation and all there is no just directly to reuse the situation of slip coupling.
But the test of many times result according to the inventor, can draw following opinion: if implement to carry out interference fit on specific surface-treated basis at least one party's of the periphery of interior week of the hollow part of the 1st parts and the 2nd parts surface, repeat to obtain a) when the excessive torque that applies over predetermined value, slide and b) when this excessive torque disappears, stop described sliding, again carry out 2 the such effects of original transmission of torque that should carry out between the 1st parts and the 2nd parts in this power transmitting deice.Even this is also can again guarantee the surface treatment physical presence that original transmitting torque capacity is such and the opinion (back describes in detail) obtained according to having confirmed as when repeatedly on purpose reality is added excessive torque the mandatory test of sliding of intentional generation.
According to the present invention, even if do not make device integral body maximize all for naught, also can prevent from directly each important document in installing being applied to this excessive torque by not transmitting a part that discharges the energy of inputting for the moment, and can make it automatic recovery.
The invention effect
According to the present invention, when the size of aggrandizement apparatus just can alleviate the load of upkeep operation all for naught, protective gear integral body effectively.
The accompanying drawing explanation
Fig. 1 is the global sections figure of speed reducer that adopts the wind power plant of the related power transmitting deice of an example of embodiments of the present invention.
Fig. 2 is the plan view of the wind power plant of the above-mentioned speed reducer of application.
Fig. 3 means at pack into the stereogram of appearance of above-mentioned speed reducer of the nacelle of above-mentioned wind power plant.
Fig. 4 means the major component sectional view of structure of the deviation drive device of above-mentioned wind power plant.
Fig. 5 is the major component sectional view of the related power transmitting deice of an example of the embodiments of the present invention applied in the speed reducer of Fig. 1.
Fig. 6 is the global sections figure of the related joint unit of an example of embodiments of the present invention.
Fig. 7 is the global sections figure of speed reducer of wind power plant of the related power transmitting deice of an example of application another other mode of executions of the present invention.
Fig. 8 is the global sections figure of speed reducer of wind power plant of the related power transmitting deice of an example of application another other mode of executions of the present invention.
Fig. 9 is the global sections figure of speed reducer of wind power plant of the related power transmitting deice of an example of application another other mode of executions of the present invention.
In figure: the 10-wind power plant, 11-cylinder pillar, 12-nacelle (power compartment), 14-deviation drive device, the 16-pitch drive, the 18-nose cone, 20-air vane, 22-motor, the 24-output pinion, 66-coupling shaft (the 2nd parts), 66A-groove, 68-lining (the 1st parts).
Embodiment
Below, to embodiments of the present invention one the example related power transmitting deice be elaborated.
At first, from the summary of the wind power plant of applying this power transmitting deice, describe.
Known with reference to Fig. 2 and Fig. 3, this wind power plant 10 possesses nacelle (power compartment) 12 at the topmost part of cylinder pillar 11.Nacelle 12 is incorporated with driftage (Yaw) drive unit 14 and pitch (Pitch) drive unit 16.Deviation drive device 14 is for for controlling the device of nacelle 12 integral body with respect to the angle of revolution of cylinder pillar 11, the device of the angle of pitch that pitch drive 16 is 3 air vanes 20 being installed on nose cone 18 for control.
In this mode of execution, owing in deviation drive device 14, applying the present invention, therefore at this, deviation drive device 14 is described.
This deviation drive device 14 possesses 4 speed reducer G1～G4 with motor 22 and output pinion 24 and 1 internal gear 28 for revolution meshed with each output pinion 24.Each speed reducer G1～G4 is fixed on the precalculated position of the main body side of each nacelle 12.Known with reference to Fig. 4 in the lump, the revolution that each output pinion 24 of each speed reducer G1～G4 meshes is fixed on cylinder pillar 11 sides with internal gear 28, forms the inner ring of driftage bearing 30.The outer ring 30A of driftage bearing 30 is fixed on the main body 12A side of nacelle 12.In addition, the arrestment mechanism that the mark 25 of Fig. 4 is deviation drive device 14.
According to this structure, if each output pinion 24 is rotated by the motor 22 of each speed reducer G1～G4 simultaneously, when this output pinion 24 is with internal gear 28 engagement, internal gear 28 center 36 (with reference to Fig. 3) revolution relatively.Its result, can make nacelle 12 integral body around internal gear 28 center 36 revolutions of being fixed in cylinder pillar 11.Thus, can be by nose cone 18 direction (for example direction) windward towards expectation, and can effectively bear blast.
Described speed reducer G1～G4, owing to having respectively identical structure, therefore describes speed reducer G1 at this.
Known with reference to Fig. 1, with regard to speed reducer G1, motor 22, orthogonal gear mechanism 40, parallel axle speed reducing machine structure 42 and final stage reducing gear 44 are disposed at successively in shell Ca on power transfer path.In addition, shell Ca is separable is high-speed side frame 46 and low speed side frame 48.
Below according to the order on power transfer path, describe.The motor drive shaft 50 of motor 22 doubles as the input shaft of orthogonal gear mechanism 40.Orthogonal gear mechanism 40 possess the hypoid small gear 52 that forms at the front end vertical cut of motor drive shaft 50 and with the hypoid gear 54 of these hypoid small gear 52 engagements, the sense of rotation of motor drive shaft 50 is changed to right angle orientation.Hypoid gear 54 is fixed on jack shaft 56.Directly be formed with the spur pinion 58 of parallel axle speed reducing machine structure 42 at jack shaft 56.The spur wheel 60 that parallel axle speed reducing machine structure 42 possesses this spur pinion 58 and meshes with this spur pinion 58.Spur wheel 60 is fixed on hollow shaft 62 by key 61.Hollow shaft 62 links by key 64 and coupling shaft 66.
Final stage reducing gear 44 possess have with (this final stage reducing gear 44) input shafts 72 of lining 68 one rotations, be arranged at 2 eccentric bodies 74 of this input shaft 72,2 external gears 76 by these eccentric body 74 eccentric swings, and 76 of this external gears in the internal gear 78 of engagement.2 external gear 76 its eccentric phases just in time depart from 180 degree, swing rotary when maintaining the state to the direction bias mutually deviated from.Internal gear 78 and low speed side frame 48 becoming one.The internal tooth of internal gear 78 consists of each columniform export trade 78A.The interior number of teeth of internal gear 78 (number of export trade 78A) is than only many 1 of the outer number of teeth of external gear 76.On external gear 76, movable fit has domestic 80.Domestic 80 with output flange 82 becoming one, output shaft 84 the becoming one of this output flange 82 and speed reducer G1.Become following structure in this mode of execution: due to internal gear 78 and low speed side frame 48 becoming one, if therefore input shaft 72 rotations of final stage reducing gear 44, external gear 76 swings by eccentric body 74, the relative rotation (rotation) of these external gear 76 relative internal gears by domestic 80 and output flange 82 from output shaft 84 taking-ups.And become following structure: fixing or link by spline 86 on output shaft 84 has above-mentioned output pinion 24, this output pinion 24 and internal gear 28 for revolution (Fig. 3, Fig. 4) engagement illustrated.
At this, with reference to Fig. 5, the structure of the power transmitting deice T1 that comprises coupling shaft 66 and lining 68 is elaborated in the lump.
The front end 66B of coupling shaft 66 is formed with many annular slot 66A (in this mode of execution being 4).Except in this groove 66A, also the periphery at the front end 66B of coupling shaft 66 is coated with Bond.More specifically, Bond is uniformly coated on the periphery of the front end 66B of coupling shaft 66, and when being pressed into lining 68, the Bond of landing is filled with gapless state in this groove 66A.As Bond, use in this embodiment the commercially available Bond such as thread looseness for preventing shake unit (for example, Henkel Japan Co., Ltd. manufactures, trade name: Loctite242,243 etc.)
Can be achieved as follows structure by this structure: with coupling shaft 66 and lining 68 to be pressed into the chimeric interaction of (interference fit) mode, when the excessive torque that applies over predetermined value, slide, and when this excessive torque disappears, revert to can be between coupling shaft 66 and lining 68 again transmitting torque until the state of described predetermined value.In addition, in the present invention, " when this excessive torque disappears, stop sliding " torque may not a definiteness be transfused to and reach predetermined value when following " stopping sliding " at once, and the concept that comprises " the torque ratio predetermined value be transfused to stops sliding while hanging down to a certain degree " and so on.
In inventor's test, confirmed following content by said structure is actual: even apply excessive torque, for example, after sliding more than 100 times, also can when each this excessive torque disappears, revert to and can transmit and the state of the torque of transferable torque same degree originally.And confirmed, as the described predetermined value of the threshold value that starts to slide and the degree of the recovery after sliding once, the surface roughness of part beyond degree by changing interference fit, number, axial width W1, axially spaced-apart L1 and the degree of depth (omitting diagram) of groove 66A, groove, the adhesion strength of Bond and hardness (or elasticity coefficient) etc. and change.At least can carry out following surface treatment by these adjustment: transmitting torque can be reverted to until the state of predetermined value.
And, according to inventor's further test, also confirmed, after implementing suitable surface treatment, when applying the excessive torque that surpasses described predetermined value under situation about sliding, during proceeding to slide, can maintain the transmission of torque that is equivalent to this predetermined value, and the recovery after can being stopped sliding fully.When this characteristic means the power transmitting deice that for example is applied to wind power plant, when emitting by wind-induced excessive torque, the activity that can brake to a certain extent nacelle, and if stop sliding, can also automatically recover, this characteristic purposes will become characteristic very preferably.
The inventor thinks, this mechanism that " this transmission of sliding → maintaining the torque that is equivalent to predetermined value and termination occurs slide → common to carrying out the recovering state of (less than predetermined value) transmission of torque " may be because: by suitable " surface treatment ", thereby but can be to lining 68, coupling shaft 66 and Bond this exert pressure produce the boundary of the stress of transmitting torque in the scope of elastically deformable.Generally speaking, can infer and following mechanism: i) 3 connecting part produce " stress " that is enough to stop the torque be transfused to during can carry out " transmission " of this torque, if and torque ii) be transfused to surpasses the stress that can occur in connecting part and becomes large, can't transmit the torque of its increase and " sliding " occurs, even but slide, the amount of stress of resiliently deformable also can maintain transmission of torque, and iii) now in the distortion of the actual generation in connecting part between the 1st parts and the 2nd parts as long as in the scope of the resiliently deformable in this connecting part (also not reaching the degree of plastic deformation), if excessive torque disappears and just can return to transmission of torque state originally.In a word, slide while applying excessive torque and can maintain the transmission of torque that is equivalent to predetermined value, and if the excessive torque disappearance, the such surface treatment of transmission of torque state that stops sliding and can returning to originally can realize.
At this, look like, " surface treatment of implementing at least one party's of the periphery of interior week of the hollow part of the 1st parts and the 2nd parts surface " in the present invention be except be the surface-treated concept of the narrow sense concavo-convex in mechanicalnesses such as the 1st parts, the 2nd parts formation grooves itself, also comprises the surface-treated concept of the broad sense that the processing that is coated with Bond etc. brings impact to connecting state or the elastic deformation of the 1st parts and the 2nd parts.
In other words, surface treatment of the present invention can also be " the 1st parts and the 2nd parts both sides carry out the chimeric surface treatment with interference fit simultaneously in the scope of resiliently deformable ".; in the past the interference fit such as be pressed into owing to not considering " repeatedly sliding "; therefore firm integrated in order to realize with simple operation as far as possible, a side (being generally the 1st parts with hollow part) is set and more is softer than the opposing party and chimeric with " plastic deformation ".Thus, Once you begin slide just sharply decline (can't maintain the transmission of torque of the torque value while being equivalent to start to slide) of transmitting torque.And, once slide end, even excessive torque is eliminated and stops sliding the firm integrated state that also can't return to originally.
Be whether the chimeric of interference fit in the scope based on resiliently deformable, for example can be by " chimeric " repeatedly carrying out the 1st parts and the 2nd parts during with " separation ", the original state whether returned to separately separately judges.While carrying out " scope of resiliently deformable in chimeric ", though repeatedly carry out chimeric with separate, the periphery of interior Zhou Yu 2 parts of the 1st parts both sides when separating can be back to respectively internal diameter and the external diameter before each chimeric.
As shown in Figure 6, the related coupling shaft 66 of this mode of execution has the linking department 66D linked with hollow shaft 62.Be formed with the keyway 66C that holds the aforesaid key 64 for linking coupling shaft 66 and hollow shaft 62 on linking department 66D.And lining 68 has the linking department 68C at the input shaft 72 of the chimeric final stage reducing gear 44 of the contrary side of its hollow shaft.At this linking department 68C, be formed with for linking the spline 68B of lining 68 and input shaft 72 (spline 70).That is, coupling shaft 66 forms 1 to (1 cover) " joint unit 67 " with lining 68.The action effect obtained by formation joint unit 67 is carried out to aftermentioned.
In addition, get back to Fig. 1, in this mode of execution, coupling shaft 66 is contained in independently connected with outer casing 46A with lining 68.Be formed with window 46A1 on this connected with outer casing 46A, can be from the visual observation coupling shaft 66 and lining 68 of connected with outer casing 46A.In the mode across 66,68 both sides, coupling shaft 66 and lining 68 are done to " mark ", whether depart from by the position of observing its mark from window 46A1, can confirm the situation that this coupling shaft 66 and lining 68 slide for the purpose of prudent.
Below, the effect of the speed reducer G1 that comprises the related power transmitting deice T1 of this mode of execution is described.
The engagement of the hypoid small gear 52 of the rotation of the motor drive shaft 50 of motor 22 by orthogonal gear mechanism 40 and hypoid gear 54 is by elementary deceleration, and 90 degree of the direction of running shaft change simultaneously are passed to the jack shaft 56 of parallel axle speed reducing machine structure 42.
The rotation of jack shaft 56 is slowed down by spur pinion 58 and the engagement of spur wheel 60, and is passed to hollow shaft 62 by key 61.The key 64 of the keyway 66C of the rotation of hollow shaft 62 by being embedded in coupling shaft 66 is passed to coupling shaft 66.The rotation of coupling shaft 66 is by being filled in Bond and the chimeric lining 68 that is passed to based on being pressed in groove 66A, and the spline 68B of the inner circumferential side by this lining 68 and the spline 70 of input shaft periphery are passed to the input shaft 72 of final stage reducing gear 44.
If the input shaft of final stage reducing gear 44 72 rotation, due to external gear 76 by eccentric body 74 (when connecing in internal gear 78) swing rotary, therefore produce and the phenomenon that departs from successively the engaging position of internal gear 78.Its result, during the every rotation of the input shaft 72 of final stage reducing gear 44 1 circle, external gear 1 body swings, and phase place departs from (producing the rotation composition) with respect to (in stationary state) internal gear 78 with the amount of 1 tooth.By domestic 80, output flange 82, this rotation composition is taken out to output shaft 84 sides, realizes thus the deceleration according to final stage reducing gear 44.The rotation of output shaft 84 is passed to output pinion 24 by spline 86.Output pinion 24 and revolution internal gear 28 engagements, and this internal gear 28 is fixed on cylinder pillar 11 sides, and therefore final nacelle 12 itself rotates to substantially horizontal by relative this cylinder pillar 11 of reaction.
At this, suppose to make the rotating huge torque of nacelle 12 drive output pinion 24 sides of the speed reducer G1 of use to be transfused to from driftage because strong wind etc. acts on air vane 20.This huge " external load " drives the final stage reducing gear 44 of this speed reducer G1 from opposition side, and makes lining 68 rotations by spline 70,68B.As long as this rotating torques is the torque of (predetermined value is following) in imagination, with regard to not sliding between lining 68 and coupling shaft 66, torque directly further is passed to parallel-axes gears mechanism 42 sides of speed reducer G1, finally by being attached to the not shown arrest of motor 22.Its result is braked really by the activity of wind-induced nacelle 12.And, at this moment can not occur in each one of speed reducer G1 special abnormal.
But, if surpass the torque of predetermined value from output pinion 24 sides (lining 68 sides) input, (if directly with its original state, the danger at each abnormal of speed reducer G1 is arranged, between lining 68 and coupling shaft 66, slide thus).Thus, can release the part from the excessive torque of output pinion 24 sides at this.Therefore, how many nacelles 12 can horizontally rotate with the wind, but can prevent breakage of motor or gear mechanism etc. (torque that is equivalent to predetermined value that at this moment, can be passed to motor 22 sides by braking is imparted to nacelle 12 by corresponding braking force).And when storm wind stops, lining 68 returns to original transmission of torque state automatically with coupling shaft 66, therefore can directly proceed wind-power electricity generation.
The related power transmitting deice T1 according to present embodiment, due to the sensor or the electric control system that do not need for dealing with excessive torque, even also can carry out the work that reliability is high under the harsh weather state therefore easily sustained damage because of thunderbolt or immersion etc. in control system.
In addition, due to can confirm from the window 46A1 that is formed on connected with outer casing 46A coupling shaft 66 and lining 68 whether once safeguard up on till once safeguarding during slided, therefore can cause the attention of operating personnel while safeguarding.
Wherein, in this mode of execution, power transmitting deice T1 involved in the present invention specializes with the form of " joint unit 67 ".Therefore, can obtain following advantage: can be to be confirmed or to adjust to obtain torque transfering characteristic as set and the mode of torque recovery characteristics in the fabrication stage in factory, and just in case when unfavorable condition occurs, also can by (in narrow nacelle) at the scene only replacement " part " be resolved.
And the torque characteristics obtained according to the sliding test of the reality in factory, can also be from a plurality of joint units " selection " actual joint unit 67 with the most appropriate torque characteristics concerning this speed reducer G1.
And, when (being not limited to the purposes of wind-power electricity generation) peddles joint unit (67) with monomer, also can to each joint unit (67), be classified by the torque characteristics according to practical measurement, thereby usining the actual torque characteristic is distinguished product as basis.
No matter, in any situation, can in factory, carry out such adjustment or selection, thus easily operation and can access high " joint unit 67 " of reproducibility, reliability of torque characteristics.
But, power transmitting deice T1 involved in the present invention may not be necessarily need to be based on this " joint unit " form, such as also can be directly on the axles such as the input shaft of speed reducer, jack shaft, output shaft, installing and further seek to save space.Its example shown in Fig. 7.
In the related power transmitting deice T2 of this mode of execution, when the hollow shaft 102 of the parallel-axes gears mechanism 100 of speed reducer G10 is played a role as (having hollow part 102A's) the 1st parts of power transmitting deice T2 involved in the present invention, the input shaft 106 of final stage reducing gear 104 is directly played a role as the 2nd parts.As amplified diagram in the round B of Fig. 7, be formed with the identical groove 106A of coupling shaft 66 in the mode of execution of a plurality of (in this example being 7) and front in input shaft 106, be filled with Bond in this groove 106A.About the mode of execution of the basic structure be pressed into of this groove 106A and Bond and front identical.
In addition, in this mode of execution, as in circle A, amplified diagram, extend coaxially the effect of the bearing of these roller 110 performance output flanges 112 with this export trade 108A with the roller 110 of the export trade 108A same diameter of the internal tooth that forms internal gear 108.Other structures, because the mode of execution with front is identical, are therefore omitted to repeat specification to the additional identical mark of same or similar part in Fig. 7.
The related structure according to this mode of execution, the space of occupying as " joint unit " in mode of execution in front disappears, and can make the further miniaturization of size of device integral body, and reduces number of components.
In addition, the device that is incorporated with power transmitting deice involved in the present invention is not limited to speed reducer described above.An example that means another other mode of executions of the present invention at Fig. 8.
In this mode of execution, the power transmitting deice T3, the T4 that in the speed reducer G20 that swinging inner-connected meshed formula planetary gears forms by 2 grades, pack into involved in the present invention.The basic structure of prime and rear class planetary gears 120,124 is identical with the final stage reducing gear 44 in the mode of execution of front.
In this mode of execution, when the output flange 122 that makes prime planetary gears 120 plays a role as (having hollow part 122A's) the 1st parts of power transmitting deice T3 involved in the present invention, the input shaft 126 of rear class planetary gears 124 is played a role as the 2nd parts.As amplified diagram in the round A of Fig. 8, be formed with a plurality of groove 126A on the input shaft 126 of rear class planetary gears 124, except in this groove 126A, also, at the periphery coating Bond of input shaft 126, this input shaft 126 is chimeric by being pressed into interference fit with output flange 122 on this basis.
And, in this mode of execution, when the output pinion 128 that makes rear class planetary gears 124 plays a role as (having hollow part 128A's) the 1st parts of power transmitting deice T4 involved in the present invention, the output shaft 130 of rear class planetary gears 124 is played a role as the 2nd parts.Also be formed with a plurality of groove 130A on the output shaft 130 of rear class planetary gears 124, except in this groove 130A, also, at the periphery coating Bond of output shaft 130, this output shaft 130 is pressed into chimeric with output pinion 128 with interference fit on this basis.
In this speed reducer, also can implement to be intended in the present invention by this structure can be after sliding the surface treatment of resetting torque, and can correspondingly obtain the original effect of the present invention.
And, in this mode of execution, with initial mode of execution, to compare, the part that the space that corresponding " joint unit " occupies disappears, can make the whole further miniaturization of device, and reduce number of components.
Mean an example of another other mode of executions of the present invention in Fig. 9.
In this mode of execution, the power transmitting deice T5, the T6 that at the speed reducer G30 formed by 4 grades of simple planetary mechanisms 141～144, pack into involved in the present invention.
; in this embodiment; when the output wheel support body 150 that makes elementary simple planetary mechanism 141 plays a role as (having hollow part 150A's) the 1st parts of power transmitting deice T5 involved in the present invention, the input shaft 152 of the 2nd grade of simple planetary mechanism 142 is played a role as the 2nd parts.Be formed with a plurality of grooves (omitting diagram) on the input shaft 152 of the 2nd grade of simple planetary mechanism 142, except in this groove, also, at the periphery coating Bond of input shaft 152, this input shaft 152 is pressed into chimeric with output wheel support body 150 with interference fit on this basis.
And, in this embodiment, when the output wheel support body 156 that makes the 2nd grade of simple planetary mechanism 142 plays a role as (having hollow part 156A's) the 1st parts of power transmitting deice T6 involved in the present invention, the input shaft 158 of 3rd level simple planetary mechanism 143 is played a role as the 2nd parts.Be formed with a plurality of grooves (omitting diagram) on the input shaft 158 of 3rd level simple planetary mechanism 143, except in this groove, also, at the periphery coating Bond of input shaft 158, this input shaft 158 is pressed into chimeric with output wheel support body 156 with interference fit on this basis.
Speed reducer G30 to this structure also can apply the present invention, and obtains corresponding effect.In addition, in this embodiment, replace above-mentioned application site, perhaps except above-mentioned application site, the power transmitting deice T4 related with the mode of execution of front is identical, when also can make the output pinion 160 of rear class planetary gears 144 play a role as (having hollow part 160A's) the 1st parts involved in the present invention, the output shaft 162 of rear class star gear mechanism 144 is played a role as the 2nd parts.
In this embodiment, also can obtain the distinctive effect of the present invention, and can directly be contained on power transfer path, therefore can prevent from increasing number of components, but the also miniaturization of holding means integral body.
Like this, in the present invention, which type of the position application the present invention who is not particularly limited in which type of drive system.But, as mode of execution so far, be not further preferably (as with the High Rotation Speed) position as the rotating speed with identical with motor rotation.This is because slip does not at a high speed preferably occur when occurring to slide.
About the surface-treated method, as long as be implemented as follows in a word surface treatment, while at least one party's of the periphery of interior week of the hollow part of the 1st parts and the 2nd parts surface, applying the excessive torque over predetermined value, slide, and again transmit the such original torque of described predetermined value when this excessive torque disappears between the 1st parts and the 2nd parts, concrete processing is just without particular limitation of example in the above-described embodiment.Form the surface treatment of illustrative groove in above-mentioned mode of execution except easy manufacture, and the mechanical injuries while sliding are also few, and can form and more applicable on required this aspect of assurance space with Bond etc., as the processing beyond the processing that forms groove, the processing of shot-peening processing or annular knurl processing and so on is for example arranged.And, utilize the barreling of slightly large grinding stone also effective.These " form the concavo-convex processing of mechanicalness on the surface of parts " especially as the formation with groove and to be used for the example on the surface beyond treatment trough also better.Certainly, also can only adopt these gimmicks to replace groove.And, also can form this (comprising groove) mechanicalness in interior week of the hollow part of the 2nd parts periphery of the 1st parts (not) side concavo-convex.Especially as the power transmitting deice T4 of Fig. 8, the position that the torque of handling is larger, preferably form in interior week.Can certainly form the both sides of the 1st parts, the 2nd parts." surface at parts forms the concavo-convex processing of mechanicalness " that carry out like this, when the complexity that further guarantees " chimeric operation " is lower, can keep predetermined value efficiently.
On the other hand, as the coating of Bond, the surface treatment that connecting state or the elastic deformation of the 1st parts and the 2nd parts are brought to impact is brought into play very effective effect to the present invention sometimes.Except the coating of Bond, the coating of high viscosity bulking agent, intervention ganoine thin film or thin slice etc. also are equivalent to the coating of this Bond.For example, what is called is used as bulking agent with the oil that especially can expect shearing force in oil at Traction Drive, purposes etc. is also effective also to be adapted at becoming long such as the time for sliding.In addition, surface treatment involved in the present invention preferably also will be used the mechanicalnesses such as groove concavo-convex etc., but also can only be coated with Bond etc.
And, even not exclusively use Bond, also can realize the present invention by the selection of material and the research of manufacture gimmick.The inventor drives and actually in the power transmitting deice used with speed reducer to carry out various tests in the driftage that can be used as the related wind power plant of aforesaid structure, for example, (for example use Bearing Steel, the SUJ2 of JIS G 4805) as the 1st parts, and the material of enforcement grinding after employing quenching or tempering, (for example use steel for carburizing, the SCM420 of JIS G 4053) as the 2nd parts, and employing carburizing, quench or tempering after carry out the material after barreling, in the scope of resiliently deformable, be pressed into chimeric, obtain thus at least up to several reproduction effects more than 10 times.In addition, in this test example, particularly, the external diameter of the internal diameter of the 1st parts and the 2nd parts being set as to the 1st parts, the 2nd parts both sides can be pressed into and using the torque (predetermined value) that should slide as the speed reducer of the deviation drive device of wind power plant and slide in the scope of resiliently deformable.In addition, when being the deviation drive device of above-mentioned mode of execution, if the reduction speed ratio of consideration final stage reducing gear 44 etc. should " predetermined value " be 400Nm～600Nm, but be set as 500Nm in this test.
Can realize actual repeatable operation by high reproducibility and be achieved as follows effect in this repetition test: even A) give the excessive torque of all size, also can during slide, using the transmission of torque of general 500Nm as described " being equivalent to the torque of predetermined value ", maintain or guarantee; When B) stopping applying excessive torque and giving the torque less than the common level of 500Nm, can return to and need not slide the state that just can carry out transmission of power.
In addition, in above-mentioned mode of execution, in order to realize interference fit, adopted based on simple and easy and that " be pressed into " cheaply chimeric, but while needing stronger chimeric (stronger transmission of torque), be effective based on the chimeric of shrink fit, shrink-fit etc.
Generally speaking, as for effectively realizing the condition of effect of the present invention, with mode selected material and the surface treatment that can take into account following 2 conditions, get final product, its 2 conditions are that (1) the 1st parts and the 2nd parts can be chimeric by interference fit in the scope of resiliently deformable; (2) torque that can start to slide using be greater than the scope of the peak torque that should transmit and the torque that is less than the damaged danger of device when usually driving in is set as " predetermined value ".In this viewpoint, even the surface treatment of the broad sense that " in addition " enforcement has not illustrated, as long as material itself has the suitable surface state that can take into account above-mentioned (1), (2) condition, sometimes also can be only selection by this material realize effect of the present invention.For example, although price is high, tungsten or the material (superhard alloy or high speed steel etc.) that comprises tungsten or the material that comprises titanium etc. only just can access by be fabricated to required shape by common manufacture gimmick the characteristic that can take into account above-mentioned (1), (2) condition sometimes.In addition, even also can walk abreast to carry out repeatedly sliding, also avoid through the long-term sticky method such as processing that prevents of sticky burning of burning as far as possible.
And, shown in above-mentioned mode of execution, in driftage, drive with application example of the present invention in speed reducer, but the inventive example is as be applied to equally in the speed reducer of pitch drive, and, in the purposes except wind-power electricity generation, especially in the possibility that becomes for the moment overload state, in high purposes, can apply equally.That is, for example, if infer from the aspect of the action effect of invention, the feedway of the smear metal of the feedway of using as mine or working machine, as easily also applying in the purposes the generation excessive torque when the engaging-in foreign matter.And, also can be applicable to the revolution of deck crane, the purposes such as revolution that drill bit drives, shovel is used in construction of shield excavation machine.; this be because in these purposes, also likely form because of be subject to the impact of wind when the operation or be subject to weight inertial force impact or be subject to so being subject to larger reaction force with obstacle or underground collisions such as rock from the operation object pleurapophysis, thereby from the situation of the temporarily stronger torque of acceptance of load side.In the present invention, also can be applicable to such purposes, and obtain same action effect.
In addition, from aim of the present invention, consider, involved in the present invention " while applying the excessive torque over predetermined value, slide; and this excessive torque stops sliding while disappearing, and again carries out the original transmission of torque that should carry out in this power transmitting deice between the 1st parts and the 2nd parts " statement should be interpreted as follows.
; with regard to " sliding while applying the excessive torque over predetermined value "; may not necessarily need to transmit the torque that is equivalent to this predetermined value during sliding, only transmission is less than the torque that is equivalent to this predetermined value, the torque that even is less than the torque of transmitting usually the time gets final product.
And, as narrated, with regard to while disappearing " this excessive torque stop sliding ", the torque may not a definiteness be transfused to becomes predetermined value when following " horse back stops sliding ", and the concept that comprises " torque be transfused to stops sliding while becoming lower than predetermined value to a certain degree " and so on.
And, refer to that with regard to " again carrying out the original transmission of torque that should carry out between the 1st parts and the 2nd parts in this power transmitting deice " torque that may not necessarily require to guarantee 100% recovers, as long as return to the state that can transmit the required torque of the driven object thing that drives power transmitting deice.More specifically, for example, " predetermined value that starts to slide (torque that starts to slide) " can be by changing repeatedly.; in the present invention; as long as in the maximum torque transfer capacity that is greater than imagination when usually driving and be less than device and have in the scope of damaged dangerous transmitting torque and set " predetermined value "; therefore as long as (after stopping sliding) can return to the state do not slided to belonging to " predetermined value " in this scope, should " predetermined value " itself can change by repeatedly sliding.For example, in the deviation drive device of the wind power plant as the mode of execution illustration, because the setting value slided fully is greater than the torque of being transmitted by the output of common motor, even how many original torques of the torque ratio after therefore recovering descends to some extent, also can be fully no problemly by the torque actuated from motor-side or revolution nacelle.Drive no problemly or turn round nacelle as long as can be in deviation drive device complete, can think the state that returns to " again carrying out the original transmission of torque that should carry out in this power transmitting deice ".
In addition, about the statement of " again ", the number of times of recovery also is subject to the considerable influence of purposes.When the frequency itself for sliding does not just have so high purposes originally, for example, during for the purposes as the deviation drive device of the wind power plant as the mode of execution illustration and so on, even also can return to and can between the 1st parts and the 2nd parts, again drive the degree of the rotating original transmission of torque of nacelle about sliding for several times, in fact just the effect as deviation drive device can be almost brought into play without barrier, and the running of wind power plant can be proceeded.But, as excessive torque occurs when the engaging-in foreign matter of feedway, in the purposes that excessive torque occurs more continually, may be thought of as and for example require to recover for hundreds of times, according to circumstances need the recovery of thousands of left and right.Generally speaking, in the relation of the purposes with this power transmitting deice (frequency slided), as long as can recover the common running of this power transmitting deice without the number of times of proceeding greatly obstacle, also can think and can be said to " again carrying out the original transmission of torque that should carry out between the 1st parts and the 2nd parts in this power transmitting deice " involved in the present invention.
Claims (15)
1. a power transmitting deice, transferring power between the 1st parts and the 2nd parts, is characterized in that,
Described the 1st parts have hollow part, and,
The external diameter of described the 2nd parts is set for less times greater than the size of the internal diameter of the described hollow part of described the 1st parts, and described the 1st parts and the 2nd parts are chimeric with interference fit thus, and,
Surface at least one party of the periphery of interior week of the described hollow part of described the 1st parts and described the 2nd parts is implemented as follows surface treatment: when the excessive torque that applies over predetermined value, slide, and when disappearing, this excessive torque stops described sliding, again carry out the original transmission of torque that should carry out in this power transmitting deice between the 1st parts and the 2nd parts, and
Described surface treatment, for when applying the excessive torque that surpasses described predetermined value described sliding occurs, maintains the surface treatment of the transmission of torque that is equivalent to described predetermined value between described the 1st parts and the 2nd parts.
2. power transmitting deice as claimed in claim 1, is characterized in that,
Described surface treatment is that described the 1st parts and the 2nd parts both sides all carry out the chimeric surface treatment with described interference fit in the scope of resiliently deformable.
3. power transmitting deice as described as any one in claim 1～2,
It is characterized in that, at least one party's the surface that described surface treatment is included in the periphery of interior week of described hollow part of described the 1st parts and described the 2nd parts forms the concavo-convex processing of mechanicalness.
4. power transmitting deice as claimed in claim 3, is characterized in that, at least one party's the surface that the concavo-convex pack processing of described formation mechanicalness is contained in the periphery of interior week of described hollow part of described the 1st parts and described the 2nd parts forms the processing of annular slot.
5. power transmitting deice as described as any one in claim 1～2, is characterized in that,
Described surface treatment is included at least one party's the processing of surface-coated Bond of the periphery of interior week of described hollow part of described the 1st parts and described the 2nd parts.
6. power transmitting deice as described as any one in claim 1～2, is characterized in that,
Described surface treatment is the processing concavo-convex at least one party's of the periphery of the interior week of the described hollow part of described the 1st parts and described the 2nd parts surface and by the formation mechanicalness and the surface treatment that is coated with the processing of Bond.
7. power transmitting deice as described as any one in claim 1～2, is characterized in that,
Described interference fit is by being pressed into realization.
8. power transmitting deice as described as any one in claim 1～2, is characterized in that,
Described the 1st parts and the 2nd parts hold in the enclosure, and,
At this shell, be formed with for confirming the window of the situation that the 1st parts and the 2nd parts slide.
9. the power transmitting deice of a wind power plant, wherein, the part using the described power transmitting deice of any one in claim 1～8 as the driving force delivery system of itself.
10. a power transmitting deice, transferring power between the 1st parts and the 2nd parts, is characterized in that,
Described the 1st parts have hollow part, and,
The external diameter of described the 2nd parts is set for less times greater than the size of the internal diameter of the described hollow part of described the 1st parts, the interference fit of the intensity that described the 1st parts and the 2nd parts both sides all slide in the scope of resiliently deformable and when applying the excessive torque over predetermined value thus is chimeric, and, while applying the excessive torque that surpasses described predetermined value, described sliding occurring, between described the 1st parts and the 2nd parts, maintain the transmission of torque that is equivalent to described predetermined value.
11. power transmitting deice as claimed in claim 10, is characterized in that,
Implement for carrying out the surface treatment chimeric with the interference fit of described intensity on surface at least one party of the periphery of interior week of the described hollow part of described the 1st parts and described the 2nd parts.
12. the joint unit of a power transmitting deice, is characterized in that,
By spindle unit and the lining with hollow part, formed,
The external diameter of described spindle unit is set for less times greater than the size of the internal diameter of the described hollow part of described lining, and described lining and spindle unit are chimeric with interference fit thus,
Surface at least one party of the periphery of interior week of the described hollow part of described lining and described spindle unit is implemented as follows surface treatment: when the input of any one party from described lining or described spindle unit surpasses the excessive torque of predetermined value, slide, and when disappearing, this excessive torque stops described sliding, again carry out the original transmission of torque that should carry out in this power transmitting deice between described lining and described spindle unit, and
Described surface treatment, for when applying the excessive torque that surpasses described predetermined value described sliding occurs, maintains the surface treatment of the transmission of torque that is equivalent to described predetermined value between described lining and described spindle unit.
13. the joint unit of a power transmitting deice, is characterized in that,
By spindle unit and the lining with hollow part, formed,
The external diameter of described spindle unit is set for less times greater than the size of the internal diameter of the described hollow part of described lining, the interference fit of the intensity that described lining and spindle unit both sides all slide in the scope of resiliently deformable and when applying the excessive torque over predetermined value thus is chimeric, and, while applying the excessive torque that surpasses described predetermined value, described sliding occurring, maintain the transmission of torque that is equivalent to described predetermined value between described lining and spindle unit.
14. the joint unit of power transmitting deice as claimed in claim 13, is characterized in that,
Implement for carrying out the surface treatment chimeric with the interference fit of described intensity on surface at least one party of the periphery of interior week of the described hollow part of described lining and described spindle unit.
15. the joint unit as the described power transmitting deice of any one in claim 12～14, is characterized in that,
Described spindle unit and lining possess respectively the linking department that can link with other power transmission shafts are arranged.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010105680A JP5425700B2 (en) | 2010-04-30 | 2010-04-30 | Reduction device for wind power generation equipment and installation method thereof |
| JP2010-105680 | 2010-04-30 | ||
| JP2010114781 | 2010-05-18 | ||
| JP2010-114781 | 2010-05-18 | ||
| JP2010173973A JP5256256B2 (en) | 2010-08-02 | 2010-08-02 | Reducer for wind power generation equipment |
| JP2010-173973 | 2010-08-02 | ||
| JP2011050640A JP5537471B2 (en) | 2010-05-18 | 2011-03-08 | Power transmission device |
| JP2011-050640 | 2011-03-08 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102235326A CN102235326A (en) | 2011-11-09 |
| CN102235326B true CN102235326B (en) | 2013-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101037368A Active CN102235326B (en) | 2010-04-30 | 2011-04-22 | Power transmission device and joint unit of power transmission device |
| CN201110107632.4A Active CN102261314B (en) | 2010-04-30 | 2011-04-27 | Reduction gear for wind power generation equipment |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201110107632.4A Active CN102261314B (en) | 2010-04-30 | 2011-04-27 | Reduction gear for wind power generation equipment |
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| Country | Link |
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| US (1) | US8574083B2 (en) |
| CN (2) | CN102235326B (en) |
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| JP5474866B2 (en) * | 2011-04-22 | 2014-04-16 | 住友重機械工業株式会社 | Reduction gear used for wind power generation equipment |
| JP6232692B2 (en) * | 2012-09-24 | 2017-11-22 | 株式会社ジェイテクト | Torque limiter, windmill and wind power generator |
| DE102013009497A1 (en) * | 2013-06-05 | 2014-12-11 | Daimler Ag | Telescopic drive shaft |
| EP3001062B1 (en) * | 2014-09-26 | 2017-04-26 | Siemens Aktiengesellschaft | Overload coupling |
| JP6476089B2 (en) * | 2015-07-28 | 2019-02-27 | 株式会社日立製作所 | Wind power generation system |
| DE102015224644A1 (en) * | 2015-12-09 | 2017-06-14 | Zf Friedrichshafen Ag | Shot blasted tooth flanks |
| CN105926492A (en) * | 2016-07-20 | 2016-09-07 | 湖南二零三新能源科技有限公司 | Automatic parking lot barrier |
| CN107036811B (en) * | 2017-05-08 | 2023-04-25 | 中铁工程装备集团有限公司 | Main driving torque test simulation loading device |
| EP3421844B1 (en) * | 2017-06-30 | 2020-08-26 | Flender GmbH | Planetary gearing carrier assembly, vertical mill gear and vertical mill |
| TW201930719A (en) * | 2017-12-14 | 2019-08-01 | 丹麥商菱重維斯塔斯海上風力有限公司 | Wind turbine, rotary machine and method for preventing damage to rotary machine for wind turbine |
| CN108708918A (en) * | 2018-06-05 | 2018-10-26 | 辽宁三三工业有限公司 | Shield owner's driving structure mechanical torque overload protection arrangement |
| JP7490612B2 (en) | 2021-04-27 | 2024-05-27 | 美的集団股▲フン▼有限公司 | Internally meshing planetary gear device and robot joint device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102261314B (en) | 2015-06-03 |
| US20110269554A1 (en) | 2011-11-03 |
| CN102261314A (en) | 2011-11-30 |
| CN102235326A (en) | 2011-11-09 |
| US8574083B2 (en) | 2013-11-05 |
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